Pouring Task using two panda arms(Joint Space planning) | ROS | Moveit | MTC | Rajendra Singh
Code: https://github.com/iamrajee/ws_moveit
Imposing orientation constraint makes trajectory execution hard thus produces jerks in execution. But If we limit the motion to be in joint space only, it produces the smooth but quite longer trajectory(see when the arm moves a bottle to pre-pour position).
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